Application of the Peano Curve for the Robot Trajectory Generating
One of many possible applications of mobile robots is using them to autonomous searching of the given area. There are two problems in such a task. The first one – how to generate a map of the searching area, the second – what shape should have a path of the robot which assures that the robot cover the whole area in the efficient way. The paper shows how this problem was solved for the miniature mobile Khepera2 robot.
KeywordsMobile Robot Robot Position Robot Trajectory Peano Curve Incremental Encoder
Unable to display preview. Download preview PDF.
- Bureau P.: Khepera2 – IR sensors report, K-Team S.A., Switzerland (2000)Google Scholar
- Duleba I.: Methods and algorithms of the mobile and manipulation robots movement (in polish), Akademicka Oficyna Wydawnicza EXIT, Warszawa (2001)Google Scholar
- Giergiel M., Hendzel Z., Żylski W.: Modeling and controlling of mobile wheel robots (in polish), Wydawnictwo Naukowe PWN, Warszawa (2002)Google Scholar
- Khepera2 – user manual, K-Team S.A., Switzerland (2000)Google Scholar
- Kuratowski K.: Introduction to set theory and topology, Elsevier, 2 RevEd edition, (1972)Google Scholar
- Pluciński M.: Application of a probabilistic neural network to an identification of objects on the base of Khepera2 robot infra-red sensor readings (in polish), Proceedings of the IX Informatics Symposium, Faculty of Computer Science and Information Technology, Szczecin University of Technology, Szczecin (2004)Google Scholar
- www.k-team.com – website of K-Team CorporationGoogle Scholar